Texture-less rigid objects occur frequently in industrial environments and are of significant interest in many robotic applications. The task of 6D pose estimation aims to detect these objects of known geometry and estimate their 6DoF (Degree of Freedom) poses, i.e., 3D translations and 3D rotations, with respect to a global coordinate frame. In robotic manipulation tasks, accurate object poses are required for path planning and grasp executions [1]}, [2]}, [3]}. For robotic navigation, 6D object poses provide useful information to the robot for localization and obstacle avoidance [4]}, [5]}, [6]}, [7]}.
